Mobile Cloud Robotics as a Service with OCCIware

We have recently witnessed the emerging of cloud computing on one hand and robotics platforms on the other hand. Naturally, these two visions have been merging to give birth to the Cloud Robotics paradigm in order to offer even more remote services. But such a vision is still in its infancy. Architectures and platforms are still to be defined to efficiently program robots so they can provide different services, in a standardized way masking their heterogeneity. This paper introduces Open Mobile Cloud Robotics Interface (OMCRI), a Robot-as-a-Service vision based platform, which offers a unified easy access to remote heterogeneous mobile robots. OMCRI encompasses an extension of the Open Cloud Computing Interface (OCCI) standard and a gateway hosting mobile robot resources. We then provide an implementation of OMCRI based on the open source model-driven Eclipse-based OCCIware tool chain and illustrates its use for three off-the-shelf mobile robots: Lego Mindstorm NXT, Turtlebot, and Parrot AR. Drone.

[1]  Xinqiang Ma,et al.  Research on Mobile Cloud Robotics based on Cloud Computing , 2016 .

[2]  Eric Fleury,et al.  FIT IoT-LAB: A large scale open experimental IoT testbed , 2015, 2015 IEEE 2nd World Forum on Internet of Things (WF-IoT).

[3]  Alexander Papaspyrou,et al.  Open cloud computing interface : core , 2011 .

[4]  Waheeb Ahmed,et al.  Question Focus Recognition in Question Answering Systems , 2016 .

[5]  Louis Turnbull,et al.  Cloud robotics: Formation control of a multi robot system utilizing cloud infrastructure , 2013, 2013 Proceedings of IEEE Southeastcon.

[6]  Andrew Edmonds,et al.  Open cloud computing interface : infrastructure , 2011 .

[7]  Alexander Papaspyrou,et al.  Toward an Open Cloud Standard , 2012, IEEE Internet Computing.

[8]  Kenneth Y. Goldberg,et al.  Cloud-based robot grasping with the google object recognition engine , 2013, 2013 IEEE International Conference on Robotics and Automation.

[9]  Roy Fielding,et al.  Architectural Styles and the Design of Network-based Software Architectures"; Doctoral dissertation , 2000 .

[10]  Pieter Abbeel,et al.  Image Object Label 3 D CAD Model Candidate Grasps Google Object Recognition Engine Google Cloud Storage Select Feasible Grasp with Highest Success Probability Pose EstimationCamera Robots Cloud 3 D Sensor , 2014 .

[11]  Yinong Chen,et al.  Internet of intelligent things and robot as a service , 2013, Simul. Model. Pract. Theory.

[12]  Anis Koubaa.  A Service-Oriented Architecture for Virtualizing Robots in Robot-as-a-Service Clouds , 2014, ARCS.

[13]  Francesco Palmieri,et al.  A cloud-based architecture for emergency management and first responders localization in smart city environments , 2016, Comput. Electr. Eng..

[14]  Xiaojun Wu,et al.  DAvinCi: A cloud computing framework for service robots , 2010, 2010 IEEE International Conference on Robotics and Automation.

[15]  Abdelmadjid Bouabdallah,et al.  ETTAF: Efficient Target Tracking and Filming with a Flying Ad Hoc Network , 2015, SmartObjects '15.

[16]  Raffaello D'Andrea,et al.  Rapyuta: A Cloud Robotics Platform , 2015, IEEE Transactions on Automation Science and Engineering.

[17]  Yinong Chen,et al.  Robot as a Service in Computing Curriculum , 2015, 2015 IEEE Twelfth International Symposium on Autonomous Decentralized Systems.

[18]  Yinong Chen,et al.  Design of a Robot Cloud Center , 2011, 2011 Tenth International Symposium on Autonomous Decentralized Systems.

[19]  Roch H. Glitho,et al.  An infrastructure for robotic applications as cloud computing services , 2014, 2014 IEEE World Forum on Internet of Things (WF-IoT).

[20]  D. Lorencik,et al.  Cloud robotics: Current trends and possible use as a service , 2013, 2013 IEEE 11th International Symposium on Applied Machine Intelligence and Informatics (SAMI).

[21]  Olivier Barais,et al.  OCCIware - A Formal and Tooled Framework for Managing Everything as a Service , 2015, STAF Projects Showcase.

[22]  Mohamed Mohamed,et al.  Open Cloud Computing Interface - Platform , 2013 .

[23]  Olivier Barais,et al.  A Precise Metamodel for Open Cloud Computing Interface , 2015, 2015 IEEE 8th International Conference on Cloud Computing.